Work vehicle

Abstract

To solve a problem with a work vehicle, such as a conventional rice planting machine, in which safety and operability in initiating straight-ahead driving control are not always sufficient.SOLUTION: A work vehicle performing ground work on a field while traveling with a travel device mounted on a vehicle body comprises: a ground work device which is installed on the vehicle body so as to be capable of moving up and down and a controller which performs straight-ahead control allowing the vehicle body to move in a predetermined straight direction. The work vehicle operates under a vehicle body direction condition requiring a direction of the vehicle body to fall within a predetermined range with respect to the straight direction. The controller initiates the straight-ahead control even when determining that the vehicle body direction condition is not met when there is a user instruction to initiate the straight-ahead control, and stops the straight-ahead control after the lapse of predetermined time when determining that the direction of the vehicle body does not fall within the predetermined range with respect to the straight direction.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a rice planter. [Background technology]

[0002] A rice transplanter is known that has a seedling planting device that is attached to the vehicle body so that it can be raised and lowered and that plants the seedlings, and a controller that performs straight-line control to cause the vehicle body to travel in a predetermined straight-line direction, and that plants the seedlings while traveling on the traveling device attached to the vehicle body (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-024541 A [Patent Document 2] Patent No. 5664634 Summary of the Invention [Problem to be solved by the invention]

[0004] However, for work vehicles such as the above-mentioned conventional rice transplanters, the safety and operability regarding the start of straight-line control are not necessarily sufficient.

[0005] SUMMARY OF THE PRESENT DISCLOSURE In consideration of the above-mentioned problems with the conventional technology, the present invention has an object to provide a work vehicle that can improve safety and operability when starting straight-line control. [Means for solving the problem]

[0006] The first aspect of the present invention is a work vehicle that performs ground work in a farm field while traveling on a traveling device (220) attached to a vehicle body (100), A ground work device mounted on the vehicle body (100) so as to be capable of ascending and descending; a controller (500) for performing straight-line control for causing the vehicle body (100) to travel in a predetermined straight-line direction; a vehicle body orientation condition that requires that the orientation of the vehicle body (100) is within a predetermined range based on the straight-ahead orientation; When a user gives an instruction to start the straight-line control, the controller (500) starts the straight-line control even if it determines that the vehicle body orientation condition is not satisfied, but if it determines that the orientation of the vehicle body (100) is not within a predetermined range based on the straight-line orientation, the controller stops the started straight-line control after a predetermined time has elapsed.

[0007] The second aspect of the present invention is the work vehicle described in claim 1, characterized in that if it is determined that the orientation of the vehicle body (100) is within a predetermined range based on the straight-ahead orientation, the stopped straight-ahead control is started without any further user instruction.

[0008] The third aspect of the present invention is the work vehicle according to the first or second aspect, characterized in that, when a user instruction is given to start the straight-line control, the controller (500) again determines whether or not the vehicle body orientation condition is satisfied. Effect of the Invention

[0009] According to the first aspect of the present invention, it is possible to improve safety regarding the start of straight ahead control with a simple configuration.

[0010] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve the safety regarding the start of straight running control with a simple configuration.

[0011] According to the third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, it is possible to improve the operability and safety regarding the start of straight ahead control with a simple configuration. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention. [Diagram 2] Block diagram of a rice transplanter according to an embodiment of the present invention. [Diagram 3] FIG. 13 is a schematic front view of a rice transplanter according to a modified embodiment of the present invention. [Figure 4] FIG. 13 is a schematic partial left side view of the vicinity of a steering device of a rice transplanter according to a modified embodiment of the present invention. [Diagram 5] FIG. 1A is a schematic partial perspective view of the vicinity of a monitor and a meter panel of a rice transplanter according to a modified embodiment of the present invention; FIG. 1B is a schematic partial front view of the vicinity of the monitor and the meter panel of a rice transplanter according to a modified embodiment of the present invention; [Figure 6] FIG. 1 is a partial left side view of the rice transplanter according to a modified embodiment of the present invention, in the vicinity of the monitor. [Figure 7] FIG. 1 is a partial front view of a rice transplanter according to a modified embodiment of the present invention, in the vicinity of the monitor; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings, an embodiment of the present invention will be described in detail.

[0014] The same applies below, but some components may not be shown in the drawings, or may be shown in a perspective or simplified manner.

[0015] First, the configuration and operation of the rice transplanter of the present embodiment will be specifically described with reference to Figs. 1 and 2.

[0016] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, and FIG. 2 is a block diagram of the rice transplanter according to an embodiment of the present invention.

[0017] The rice transplanter of this embodiment has a seedling planting device 230 that is attached to the vehicle body 100 so that it can be raised and lowered, and a controller 500 that performs straight-line control to cause the vehicle body 100 to travel in a predetermined straight-line direction, and is a rice transplanter that plants seedlings while traveling on the traveling device 220 attached to the vehicle body 100, and is an example of a work vehicle in the present invention.

[0018] While explaining the operation of the rice transplanter, a work vehicle operation control method according to an invention related to the present invention will also be explained.

[0019] The rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual or automatic steering operation of a steering device 240, levels the field using a ground leveling device 260 having a ground leveling float 261, plants seedlings in the field using a seedling planting device 230, and applies fertilizer to the field using a fertilizer application device 250.

[0020] The traveling device 220, the seedling planting device 230, the fertilizer application device 250 and the soil leveling device 260 are driven by the power of the engine 210 transmitted via a main transmission 300 and an auxiliary transmission 400, which are HST (Hydro Static Transmission), and the like.

[0021] Next, mainly with reference to FIG. 2, the configuration and operation of the rice transplanter of this embodiment will be described more specifically.

[0022] When a user gives an instruction to start straight-line control, if it is determined that at least one of the following conditions is satisfied: a vehicle body orientation condition that requires that the orientation of the vehicle body 100 is within a predetermined range S1 based on the straight-line orientation, and a seedling planting device lowering condition that requires that the seedling planting device 230 is lowered, the controller 500 starts straight-line control.

[0023] In order to make it difficult to prohibit straight-line control, for example, a specification may be considered in which the controller 500 starts straight-line control even if it determines that the seedling planting device lowering condition is not satisfied, regardless of whether the vehicle orientation condition is satisfied or not.

[0024] However, with such specifications, even if the planting portion of the seedling planting device 230 is raised, the controller 500 starts straight-line control regardless of the orientation of the vehicle body 100, which can cause an inconvenient situation.

[0025] In this embodiment, when it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the controller 500 starts straight-line control.

[0026] For example, if the planting unit of the seedling planting device 230 is lowered to a position where the soil leveling rotor of the soil leveling device 260 is driven, the start of straight-line control is permitted in all directions, regardless of the orientation of the vehicle body 100. Even if the orientation of the vehicle body 100 is not within the range S1 that is predetermined based on the straight-line orientation, if the seedling planting device 230 is lowered, straight-line control with straight-line assist ON is realized, improving operability.

[0027] Of course, even if the planting part of the seedling planting device 230 is raised, so long as the orientation of the vehicle body 100 is within a predetermined range S1 based on the straight-ahead direction, straight-ahead control with straight-ahead assist on is similarly realized.

[0028] The timing at which it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied is substantially the same as the timing at which the user instructs the start of straight-line control, but it may also be a little later.

[0029] When a user instructs the start of straight-line control, even if it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, if the controller 500 determines that the vehicle is traveling on a road, it will not start straight-line control.

[0030] Whether or not the vehicle is traveling on a road is determined by using a rotation sensor that counts the number of rotations of the rear wheel 222, a position sensor that detects the operating position of the sub-transmission lever of the sub-transmission device 400, or a GNSS (Global Navigation Satellite System) device that detects the position of the vehicle body 100, etc.

[0031] For example, if turning control is performed with counting the number of rear wheel revolutions in a so-called Z-turn, in which the seedling planting device 230 is automatically raised with the turning of the vehicle body 100 at the end of the planting row, then road travel is not being performed. Therefore, even if at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, it goes without saying that straight-line control may be started only when such turning control is being performed. Since turning control is not performed during road travel outside a field where the planting part of the seedling planting device 230 is raised, even if there is an erroneous user instruction to start straight-line control, straight-line control with inappropriate straight-line assist ON is not permitted and is prohibited, thereby improving convenience.

[0032] When a user gives an instruction to start straight-line control, if it is determined that the vehicle body orientation condition is not satisfied but the seedling planting device lowering condition is satisfied, the controller 500 starts straight-line control, but if it determines that the orientation of the vehicle body 100 is not within a predetermined range S2 based on the straight-line orientation, the straight-line control that was started after a predetermined time t0 has elapsed is stopped.

[0033] For example, if the planting section of the seedling planting device 230 is lowered to a position where the ground leveling rotor of the ground leveling device 260 is driven, straight-line control is permitted to begin in all directions regardless of the orientation of the vehicle body 100, but if the orientation of the vehicle body 100 is significantly different from the straight-line direction, straight-line control by straight-line assist on is stopped by cancellation processing, etc., thereby improving not only operability but also safety.

[0034] The predetermined time t0 is, for example, about one second, and the straight ahead control may be immediately stopped and not substantially performed.

[0035] The predetermined range S2 may be a range that coincides with the predetermined range S1 described above, or may be, for example, a larger range.

[0036] The timing at which it is determined that the orientation of the vehicle body 100 is not within a predetermined range S2 based on the straight-ahead orientation may be the timing at which it is determined that the vehicle body orientation condition is not satisfied but the seedling planting device lowering condition is satisfied, or it may be a timing shortly after the passage of a predetermined time t0.

[0037] The stopped straight ahead control may be discontinued or may be suspended, and if the vehicle orientation condition is subsequently satisfied, the suspended straight ahead control may be restarted without further user instruction or may be prompted for further user instruction.

[0038] When a user gives an instruction to start straight-line control, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 does not start straight-line control.

[0039] If the orientation of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead orientation and the planting part of the seedling planting device 230 is raised, straight-ahead control with straight-ahead assist on is not permitted and is prohibited, thereby improving safety.

[0040] In addition, when a user instruction to start straight-line control is received, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 will suspend the straight-line control, and if it is subsequently determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the suspended straight-line control may be started without further user instruction.

[0041] Even if the orientation of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead orientation and the planting section of the seedling planting device 230 is raised, operability and safety may be improved by notifying the user of the exact situation, such as the suspension of straight-ahead control, using a lamp or buzzer, for example, before approximately one second has elapsed, so as to avoid causing confusion to the user.

[0042] In addition, when a user instruction to start straight-line control is given, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 may suspend straight-line control, and if it is subsequently determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the controller 500 may prompt the user for further instruction.

[0043] Even if the orientation of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead orientation and the planting section of the seedling planting device 230 is raised, if the vehicle body orientation condition is subsequently satisfied, for example, the exact situation is indicated by a lamp or buzzer, etc., and the user is prompted to instruct the start of straight-ahead control at that point, thereby improving operability and safety.

[0044] For example, if the vehicle body orientation condition is not satisfied despite detection of a predetermined travel distance or elapsed time measured based on a user instruction to start the straight-line control, it is desirable to cancel the suspension of the straight-line control. The suspension of the straight-line control may be canceled when the vehicle body 100 stops traveling or moves backward.

[0045] The suspension of straight-line control is continued for approximately one second, for example, even if the vehicle orientation condition is not satisfied, and straight-line control with straight-line assist on is permitted in the monitor display state and in the operation state of the straight-line control start user indicator, but steering control for automatic steering itself is not performed, thereby improving operability and safety.

[0046] In addition, when a user instruction to start straight-line control is given, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 may again determine whether at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied after a predetermined time τ0 has elapsed.

[0047] Since a user's instruction to start straight-line control can be hasty, and whether or not at least one of the vehicle body orientation conditions and the seedling planting device lowering conditions is satisfied changes from moment to moment, convenience is improved by repeating such a judgment.

[0048] Next, mainly with reference to FIG. 1, the configuration and operation of the rice transplanter of this embodiment will be described in more detail.

[0049] The monitor display unit for the straight-line assist may be provided by utilizing an existing liquid crystal monitor display unit that displays the seedling planting state of the seedling planting device 230. The number of parts is reduced, which leads to cost reduction.

[0050] Ultrasonic sensors for measuring the field depth and the like may be attached to both the left and right sides of the vehicle body 100, but may also be attached only to the center of the vehicle body 100. Since the number of parts is reduced, costs can be reduced.

[0051] The ultrasonic sensor described above may be omitted by measuring the planting height using the link sensor of the seedling planting device 230. The number of parts is reduced, thereby realizing cost reduction.

[0052] The monitor display unit for the straight driving assistance described above may be provided by utilizing a so-called center mascot unit for driving straight along a straight line formed by line markers in response to manual steering operation of the steering device 240. Since line of sight movement is suppressed, a user-friendly configuration is realized.

[0053] As shown in Fig. 3, which is a schematic front view of a rice transplanter according to a modified embodiment of the present invention, a ground roller 1110 used in a vegetable transplanter or the like may be attached to the bumper portion 1120, and an electrode portion of a fertility sensor for a fertilizer application device 250 may be attached to the ground roller 1110. By utilizing the traction of a cable attached to the ground roller 1110, the ground roller 1110 may be raised and lowered in response to the raising and lowering of the seedling planting device 230.

[0054] In the above-mentioned center mascot section, the existing LCD monitor display regarding the position of the seedling planting device 230 that is mounted so as to be able to rise and fall may not be performed, and only the straight-line assist display may be performed.

[0055] In the above-mentioned center mascot section, not only can the existing LCD monitor display be performed regarding the position of the seedling planting device 230 that is mounted so as to be able to rise and fall, but also a straight-line assist display can be performed.

[0056] The above-mentioned monitor display unit for straight driving assistance may be provided by utilizing an L-shaped mounting stay erected on the top of the bonnet.

[0057] The fertilizer applicator 250 may be an assembly in which the fertilizer rolls are driven independently for each planting row by using an electric motor. The variation between the fertilizer rolls for each planting row can be suppressed by correcting the rotation speed of the fertilizer roll, improving the accuracy of fertilization. Since fertilizer may flow out into the wheel tracks, fertilization correction may be performed only for the planting rows on both sides of the front wheel 221 and the rear wheel 222.

[0058] In driving the fertilizer applicator 250 described above, for example, a device capable of analyzing the fertility between the front wheels 221 in detail may be combined. In order to realize highly accurate variable fertilization for each planting row, fertilizer reduction correction may be performed only in the planting rows on both sides of the front wheels 221 and the rear wheels 222 where the tilling depth is likely to be added.

[0059] In a configuration in which the seedling removal amount of the seedling planting device 230 can be changed using an electric motor or the like, the seedling removal amount can be changed at any time when increasing the seedling removal amount so that the load on the power can be reduced. However, operating conditions for the electric seedling removal amount change can be considered such that the seedling feed timing is adapted to the seedling removal amount only when decreasing the seedling removal amount.

[0060] In a configuration in which the seedling planting depth of the seedling planting device 230 can be changed using an electric motor or the like, it is possible to consider operating conditions for the electric seedling planting depth change such that when changing movement to the shallower side, a hydraulic increase signal is output at an appropriate time, and when changing movement to the deeper side, a hydraulic decrease signal is output as necessary, so that a reduction in the load on the power source is expected taking into account the response.

[0061] A simple variable fertilization mechanism can be envisaged that adjusts the amount of fertilizer applied by the fertilizer application device 250 according to the field depth by detecting the extension and contraction of the lifting cylinder of the seedling planting device 230 without using a so-called depth sensor such as the ultrasonic sensor described above.

[0062] The above-mentioned monitor display unit for the straight driving assistance may be provided by utilizing a mounting stay erected near the manufacturer's logo mark at the front center of the bonnet hood.

[0063] As shown in Fig. 4, which is a schematic partial left side view near a steering device 240 of a rice transplanter according to a modified embodiment of the present invention, a monitor 1210 having the monitor display unit for the straight-line assist described above may be provided by utilizing an extended mounting portion 1240 of a meter panel 1230 of a handle column 1220. The number of parts is reduced by using the same mounting stay, thereby realizing cost reduction.

[0064] The monitor 1210 may be attached to the center mascot portion described above.

[0065] The monitor 1210 may be mounted on top of a monitor panel, such as a gauge panel 1230 .

[0066] A variable fertilizer rice planter configuration can be considered that reduces fertilizer in several stages according to the cultivated soil depth by measuring the cultivated soil depth. Since rice lodging is likely to occur due to the cultivated soil depth, reducing fertilizer at a deeper location can prevent rice lodging. By omitting the fertility and temperature measuring mechanisms in the existing variable fertilizer rice planter configuration, cost reduction can be achieved.

[0067] As shown in Figure 5(a), which is a schematic partial oblique view of the vicinity of the monitor 1210 and meter panel 1230 of a rice transplanter of a modified embodiment of the present invention, and Figure 5(b), which is a schematic partial front view of the vicinity of the monitor 1210 and meter panel 1230 of a rice transplanter of a modified embodiment of the present invention, the monitor 1210 as an assist monitor unit may be attached to an L-shaped plate 1320 to which one side of the mounting portion of the meter panel 1230 is co-fastened with a bolt 1310 or the like.

[0068] The monitor 1210 serving as the assist monitor unit may be incorporated into a plate at the center position of the steering wheel.

[0069] The monitor 1210 serving as the assist monitor unit may be incorporated into the display unit of the center marker.

[0070] As shown in Fig. 6, which is a partial left side view of the vicinity of the monitor 1210 of a rice transplanter according to a modified embodiment of the present invention, in order to unitize the automatic steering system, the components of the automatic steering system except for the arithmetic processing device may all be supported by one support frame 1420, which is, for example, a support frame for a GNSS antenna device 1410 such as a GPS (Global Positioning System) antenna device. The support frame for the monitor 1210, which is a display device of the automatic steering system, is not independent of the support frame for the GNSS antenna device 1410, and the monitor 1210 is axially mounted on the support frame 1420. Since the monitor 1210 can be rotated around the axis of the support frame 1420, the monitor angle can be adapted to the line of sight by rotating the monitor 1210 in the direction indicated by arrow A, thereby realizing a user-friendly configuration.

[0071] The monitor 1210 , which is a display device for the straight driving assistance, may be directly connected to the meter panel 1230 .

[0072] Although the monitor 1210, which is a display device for straight driving assistance, and the meter panel 1230 are directly connected to each other, their mechanical drive ranges may be independent so that the display angle, etc., can be changed individually.

[0073] The monitor 1210, which is a display device for the straight driving assistance, and the display device of the center mascot portion described above may be integrated into one unit.

[0074] 7, which is a partial front view of the vicinity of the monitor 1210 of a rice transplanter according to a modified embodiment of the present invention, the support frame shape of the frame 1510 that supports an automatic driving mode display unit such as the monitor 1210 is an inverted Y shape, and wiring may be performed from the bonnet. By using the frame 1510, which is an inverted Y-shaped frame, instead of an inverted U-shaped frame, it is possible to eliminate wasted space below the display device.

[0075] The support frame shape of the frame 1510 that supports an automatic driving mode display unit such as the monitor 1210 is I-shaped, and wiring may be performed from the bonnet. By using such an I-shaped frame 1510, which is a single I-shaped support pillar, instead of an inverted U-shaped frame, it is possible to eliminate wasted space below the display device.

[0076] The monitor 1210, which is a display device for straight-line assistance, may be integrally attached to an existing monitor panel such as the meter panel 1230 as a GNSS display device.

[0077] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0078] In addition, the recording medium of the invention related to the present invention is a recording medium having recorded thereon a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0079] In addition, the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the multiple steps.

[0080] In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or a part of the above-mentioned steps.

[0081] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0082] Furthermore, the recording medium includes a ROM (Read Only Memory) and the like.

[0083] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0084] As described above, the configuration of the present invention may be realized in software or in hardware. [Industrial Applicability]

[0085] The work vehicle of the present invention can improve the operability regarding the start of straight-line control, and is useful for use in work vehicles such as rice transplanters. [Explanation of symbols]

[0086] 100 Body 210 Engine 220 Running gear 221 Front wheel 222 Rear wheel 230 Seedling planting device 240 Controls 250 Fertilizer equipment 260 Ground leveling equipment 261 Leveling float 300 Main Transmission 400 Sub-transmission device 500 Controller 1110 Ground Roller 1120 Bumper part 1210 Monitor 1220 Steering column 1230 Meter Panel 1240 Mounting part 1310 Volts 1320 Plate 1410 GNSS antenna equipment 1420 Support frame 1510 Frame A Arrow

Claims

1. A work vehicle that performs ground work in a field while traveling on a traveling device (220) attached to a vehicle body (100), A ground work device attached to the vehicle body (100) so as to be capable of ascending and descending; A controller (500) that performs straight-line control to make the vehicle body (100) travel in a predetermined straight-line direction; a vehicle body orientation condition that requires that the orientation of the vehicle body (100) is within a predetermined range based on the straight-ahead orientation; When a user instruction is given to start the straight-line control, the controller (500) starts the straight-line control even if it determines that the vehicle body orientation condition is not satisfied, but if it determines that the orientation of the vehicle body (100) is not within a predetermined range based on the straight-line orientation, the controller stops the started straight-line control after a predetermined time has elapsed.

2. 2. The work vehicle according to claim 1, characterized in that if it is determined that the orientation of the vehicle body (100) is within a predetermined range based on the straight-ahead orientation, the stopped straight-ahead control is started without any further user instruction.

3. 3. The work vehicle according to claim 1, wherein when a user instruction to start the straight-line control is given, the controller (500) again determines whether the vehicle body orientation condition is satisfied.

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